From e8ba8ba135e667235cccd988602ca1c907f38a2a Mon Sep 17 00:00:00 2001
From: Saanvi Korem <saanvikorem@gmail.com>
Date: Wed, 23 Oct 2024 22:03:06 -0400
Subject: [PATCH] Task 2 Completion

---
 .../frc/robot/subsystems/XRPDrivetrain.java   | 23 ++-----------------
 1 file changed, 2 insertions(+), 21 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/XRPDrivetrain.java b/src/main/java/frc/robot/subsystems/XRPDrivetrain.java
index 0bda8d9..98e9594 100644
--- a/src/main/java/frc/robot/subsystems/XRPDrivetrain.java
+++ b/src/main/java/frc/robot/subsystems/XRPDrivetrain.java
@@ -46,27 +46,8 @@ public void arcadeDrive(double xaxisSpeed, double zaxisRotate) {
   }
 
   //TODO:Task 2-Write a function that makes the robot take in a left wheel speed and a right wheel speed, and move at those speeds.
-  public static Command tankDriveCom(double leftSpeed, double rightSpeed){
-    return new FunctionalCommand(
-      () -> {
-        //start
-        RobotContainer.m_xrpDrivetrain.tankDrive(0,0);
-        RobotContainer.m_xrpDrivetrain.resetEncoders();
-      },
-      //action
-      () -> {
-        RobotContainer.m_xrpDrivetrain.tankDrive(leftSpeed, rightSpeed);
-      },
-      //stop
-      interrupted ->
-        RobotContainer.m_xrpDrivetrain.tankDrive(0, 0); 
-
-      //boolean
-      () -> {
-        return false;
-      }
-      RobotContainer.m_xrpDrivetrain
-    );
+  public static Command SpeedCommand(double leftSpeed, double rightSpeed){
+    m_diffDrive.tankDrive(leftSpeed, rightSpeed);
   }
   //HINT:This is called a tank drive, maybe there is a function that can easily allow for it?
   //HINT:To see all the functions that the drivetrain has, type "m_diffDrive." without the quotes and look at the options generated by auto complete.